UniAD 수정

1. 디버그 정보를 파일로 저장하는 기능 끄기 leaderboard/team_code/uniad_b2d_agent.pt 안에run_step() 함수<div class="figure-img" data-ke-type="image" data-ke-style="floatLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/591fe9f80135b0a36db2dbb9ab4897346b211aa6_re_1777350704910" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/591fe9f80135b0a36db2dbb9ab4897346b211aa6_re_1777350704910" data-origin-width="544" data-origin-height="81"></div>     <div class="figure-img" data-ke-type="image" data-ke-style="floatLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/1c52da0889c1c870f9d9a9994156bd281e198c7f_re_1777350704911" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/1c52da0889c1c870f9d9a9994156bd281e198c7f_re_1777350704911" data-origin-width="536" data-origin-height="76"></div>self.save(tick_data) 저장해주는 코드를 주석처리   tick_data = self.tick(input_data) input_data에는 카메라 6대, bev,gps,speed,Imu 정보들이 들어있음  2.코스를 선택해서 실행 가능하게설정 여러개의 루트를 실행하는 bench2drive220.xml 파일에 여러개의 route가 있는데 이러한 형식임<div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/5037a37e43c32cc1e51a8512f8d5e2d92b236ff3_re_1777350704911" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/5037a37e43c32cc1e51a8512f8d5e2d92b236ff3_re_1777350704911" data-origin-width="872" data-origin-height="772"></div> 여러개의 route의 한 route만 가져와서 xml 파일을 생성 함 <route id="" town="">부터 </route>까지 이후 run_eval‎uation_debug.sh 스크립트 파일에<div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/87414a23474571e7831bc217e7a439ec886ecd4c_re_1777350704911" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/87414a23474571e7831bc217e7a439ec886ecd4c_re_1777350704911" data-origin-width="918" data-origin-height="110"></div>BASE_ROUTES에 경로를 넣어주면 된다. 3. 7개 테스트 코드별 성공 여부 <div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%; height: 106px;" border="1"><tbody><tr style="height: 18px;"><td style="height: 18px;">평가지표</td><td style="height: 18px; text-align: center;">ex</td><td style="height: 18px;"></td></tr><tr style="height: 18px;"><td style="height: 18px;">Start Time</td><td style="height: 18px; text-align: center;">2026-04-28 12:23:07</td><td style="height: 18px;">평가 시작 시각</td></tr><tr style="height: 18px;"><td style="height: 18px;">End Time</td><td style="height: 18px; text-align: center;">2026-04-28 12:43:54</td><td style="height: 18px;">평가 종료 시각</td></tr><tr style="height: 18px;"><td style="height: 18px;">System Time</td><td style="height: 18px; text-align: center;">1246.44s (~20분)</td><td style="height: 18px;">실제 벽시계 소요 시간 (End - Start)</td></tr><tr style="height: 18px;"><td style="height: 18px;">Game Time</td><td style="height: 18px; text-align: center;">63.2s</td><td style="height: 18px;">시뮬레이션 안에서 차량이 실제로 주행한 시간</td></tr><tr style="height: 16px;"><td style="height: 16px;">Ratio (Game / System)</td><td style="height: 16px; text-align: center;">0.051</td><td style="height: 16px;">실시간 대비 속도 — UniAD 추론이 느려서 CARLA가 기다림</td></tr></tbody></table></div> <div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%; height: 162px;" border="1"><tbody><tr><td style="width: 27.8465%;">평가지표</td><td style="width: 22.2772%; text-align: center;"> </td><td style="width: 12.005%; text-align: center;"></td><td style="width: 37.8713%;"></td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">RouteCompletionTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">%</td><td style="width: 37.8713%; height: 18px;">목적지까지 몇퍼센트만 완주</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">OutsideRouteLanesTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">0%</td><td style="width: 37.8713%; height: 18px;">차선 이탈 없음</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">CollisionTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">0회</td><td style="width: 37.8713%; height: 18px;">충돌 없음</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">RunningRedLightTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">0회</td><td style="width: 37.8713%; height: 18px;">신호 위반 없음</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">RunningStopTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">0회</td><td style="width: 37.8713%; height: 18px;">정지선 위반 없음</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">MinSpeedTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">100%</td><td style="width: 37.8713%; height: 18px;">최소 속도 유지</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">InRouteTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">-</td><td style="width: 37.8713%; height: 18px;">라우트 안에 있음</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">AgentBlockedTest</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">-</td><td style="width: 37.8713%; height: 18px;">차량이 멈춰서 움직이지 않음</td></tr><tr style="height: 18px;"><td style="width: 27.8465%; height: 18px;">Timeout</td><td style="width: 22.2772%; height: 18px; text-align: center;">FAILURE/SUCCESS</td><td style="width: 12.005%; height: 18px; text-align: center;">-</td><td style="width: 37.8713%; height: 18px;">시간 초과 없음</td></tr></tbody></table></div> 1.<div class="figure-img" data-ke-type="image" data-ke-style="floatLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/e981075ff8e5754f8f994ee2ac4f943bbe596774_re_1777350704921" class="txc-image" width="417" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/e981075ff8e5754f8f994ee2ac4f943bbe596774_re_1777350704921" data-origin-width="545" data-origin-height="873"></div>                               2.<div class="figure-img" data-ke-type="image" data-ke-style="alignLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/78974e62d336fb81649e7d6e6678b42159e25cac_re_1777350704921" class="txc-image" width="398" height="650" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/78974e62d336fb81649e7d6e6678b42159e25cac_re_1777350704921" data-origin-width="559" data-origin-height="913"></div>3. 4. #추론중 5. #추론중 6. #추론중  4. 테스트 코드 추론시간 (센서입력부터 제어기출력, 모델추론 시간) def run_step(self, input_data, timestamp)에 함수 첫번째 줄에model_start = time.perf_counter() 추가 함수 마지막 줄에model_end = time.perf_counter()print(f"elapsed2: {model_end - model_start:.4f}초")추가하여 시간 측정 <div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/b49d70699a29c6efbf1a07ecc6c44b651c88fee7_re_1777350704920" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/b49d70699a29c6efbf1a07ecc6c44b651c88fee7_re_1777350704920" data-origin-width="1458" data-origin-height="174"></div> elapsed2가 추론 시간이다. 0.8초 800ms가 걸리는 것을 확인